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2016-08-29 17:44:43 -0600 answered a question Sensor plugins doesn't work

It seems that Description of model with URDF doens't work well with <sensor> and <material> tags. The way that I resolve my problem was using SDF file.

Thanks!

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2016-08-27 21:20:34 -0600 asked a question Sensor plugins doesn't work

Hi everyone,

I've created a sensor plugin but when I'm trying to use it , the gazebo doesn't recognize it. (I have no sign of its builder) The model description has done with URDF:

<robot name="vant2">

    <link name = "teste">

        <inertial>

            <origin xyz="-0.00254692194194197639 0.000137734082827298 -0.0181900814143879" 
                rpy="0 0 0"/>

            <mass value="1.92509767079622"/>

            <inertia ixx="0.0697552757250878"
                 ixy="4.77417385357503E-05"
                 ixz="0.000362780890165671"
                 iyy="0.00792827006001647"
                 iyz="-1.07360516340487E-05"
                 izz="0.0664000187819483"/>

        </inertial>

        <visual>

            <origin xyz="0 0 0"
                rpy="0 0 0"/>

            <geometry>

                <mesh filename="package://vant2/meshes/corpo.STL"/>

            </geometry>

            <material name="">

                <color rgba="1 1 1 1"/> 

            </material>

        </visual>

        <collision>

            <origin xyz="0 0 0"
                rpy="0 0 0"/>

            <geometry>

                <box size="0.5 0.5 0.5"/>

            </geometry>

        </collision>

        <gazebo>

            <sensor>

                <plugin name="gpsplugin" filename="libgazebo_ros_gps.so"> 

                </plugin>

            </sensor>

        </gazebo>

    </link>

</robot>

Anyone knows what is the problem?

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2016-07-29 16:58:58 -0600 commented answer How to drawn dash lines or points on simulator?

I didn't know that Visual plugin exists. Where must I call the plugin? World file? Model File?

2016-07-29 16:47:26 -0600 commented answer How to drawn dash lines or points on simulator?

Your code will help me a lot! I saw in the second example that you create boxes and their visual features in the world plugin in running time. Do you know if these boxes are statics?

2016-07-29 16:47:10 -0600 commented answer How to drawn dash lines or points on simulator?

Thanks for you answer! Sorry, I didn't express well. My project is bigger than I said and, in this step, I'm using the simulator just to test control loops. But, in the future, someone will develop others features like algorithms of motion planning, maps and obstacles in the scene and so on. Besides that, we chose use ROS to communicate with other systems. Due to this, Gazebo is better than Rviz for our purpose.

2016-07-29 16:33:46 -0600 answered a question How to drawn dash lines or points on simulator?

Thanks for you answer!

Sorry, I didn't express well. My project is bigger than I said and, in this step, I'm using the simulator just to test control loops. But, in the future, someone will develop others features like algorithms of motion planning, maps and obstacles in the scene and so on. Besides that, we chose use ROS to communicate with other systems. Due to this, Gazebo is better than Rviz for our purpose.

Your code will help me a lot! I saw in the second example that you create boxes and their visual features in the world plugin in running time. Do you know if these boxes are statics?

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2016-07-27 23:24:35 -0600 asked a question How to drawn dash lines or points on simulator?

Hi everyone,

My main reason to use the Gazebo is to test the design of advanced control loop. For comparative visual results, I need to draw points or dash lines (or just lines) where the robot should have pass and where it actually went in running time.

  • Anyone has already done something like it?

  • What type of plugin must I create?

  • What class will help me to design this functionality?

Some examples are welcome!

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2016-03-28 15:44:32 -0600 asked a question error: no matching function for call to ‘gazebo::transport::Node::Subscribe(const char [14], void (gazebo::WorldPluginTutorial::*)(ConstWorldStatisticsPtr&))’

Hello

I can't communicate with gazebo topics by ROS code.

Now I'm trying to heard the topic "world_stats" using the code below

namespace gazebo
{

class WorldPluginTutorial : public WorldPlugin
{

public:
WorldPluginTutorial() : WorldPlugin()
{
}

void cb(ConstWorldStatisticsPtr &_msg)
{
    // Dump the message contents to stdout.
    std::cout << _msg->DebugString();
}

void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
{
        // Make sure the ROS node for Gazebo has already been initialized                                                                                    
        if (!ros::isInitialized())
        {
            ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
                << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
            return;
        }   

    // Create our node for communication
    transport::NodePtr node(new gazebo::transport::Node());
    node->Init();

    // Listen to Gazebo world_stats topic
    transport::SubscriberPtr sub = node->Subscribe("~/world_stats", &gazebo::WorldPluginTutorial::cb);

        ROS_INFO("Hello World!");
}

};
GZ_REGISTER_WORLD_PLUGIN(WorldPluginTutorial)
}

The system returns this message:

/home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp: In member function ‘virtual void gazebo::WorldPluginTutorial::Load(gazebo::physics::WorldPtr, sdf::ElementPtr)’:
/home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:37:101: error: no matching function for call to ‘gazebo::transport::Node::Subscribe(const char [14], void (gazebo::WorldPluginTutorial::*)(ConstWorldStatisticsPtr&))’
     transport::SubscriberPtr sub = node->Subscribe("~/world_stats", &gazebo::WorldPluginTutorial::cb);
                                                                                                     ^

/home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:37:101: note: candidates are:
In file included from /usr/include/gazebo-5.1/gazebo/transport/transport.hh:6:0,
                 from /home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:4:
/usr/include/gazebo-5.1/gazebo/transport/Node.hh:175:21: note: template<class M, class T> gazebo::transport::SubscriberPtr gazebo::transport::Node::Subscribe(const string&, void (T::*)(const boost::shared_ptr<const T>&), T*, bool)
       SubscriberPtr Subscribe(const std::string &_topic,
                     ^

/usr/include/gazebo-5.1/gazebo/transport/Node.hh:175:21: note:   template argument deduction/substitution failed:
/home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:37:101: note:   candidate expects 4 arguments, 2 provided
     transport::SubscriberPtr sub = node->Subscribe("~/world_stats", &gazebo::WorldPluginTutorial::cb);
                                                                                                     ^

In file included from /usr/include/gazebo-5.1/gazebo/transport/transport.hh:6:0,
                 from /home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:4:
/usr/include/gazebo-5.1/gazebo/transport/Node.hh:204:21: note: template<class M> gazebo::transport::SubscriberPtr gazebo::transport::Node::Subscribe(const string&, void (*)(const boost::shared_ptr<const T>&), bool)
       SubscriberPtr Subscribe(const std::string &_topic,
                     ^

/usr/include/gazebo-5.1/gazebo/transport/Node.hh:204:21: note:   template argument deduction/substitution failed:
/home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:37:101: note:   mismatched types ‘void (*)(const boost::shared_ptr<const T>&)’ and ‘void (gazebo::WorldPluginTutorial::*)(ConstWorldStatisticsPtr&) {aka void (gazebo::WorldPluginTutorial::*)(const boost::shared_ptr<const gazebo::msgs::WorldStatistics>&)}’
     transport::SubscriberPtr sub = node->Subscribe("~/world_stats", &gazebo::WorldPluginTutorial::cb);
                                                                                                     ^

In file included from /usr/include/gazebo-5.1/gazebo/transport/transport.hh:6:0,
                 from /home/macro/catkin_ws/src/gazebo_tutorials/src/simple_world_plugin.cpp:4:
/usr/include/gazebo-5.1/gazebo/transport/Node.hh:234:21: note: template<class T> gazebo::transport::SubscriberPtr gazebo::transport::Node::Subscribe(const string&, void (T::*)(const string&), T*, bool)
       SubscriberPtr Subscribe(const std::string &_topic,
                     ^

/usr/include/gazebo-5.1/gazebo/transport/Node.hh:234:21: note ...
(more)
2015-10-06 17:55:14 -0600 answered a question Multilple plugin loading

Hello! Anybody could solve this bug? Could you pass me how to can solve it?

Thanks